Since the servo drive of a single motor can no longer satisfy some applications of high precision, high dynamic performance, large inertia, and high power, the control method of multi-motor drive is proposed. In multi-motor servo systems, the non-linear factors such as friction and backlash make it difficult for traditional controllers to ensure the high-speed and high-precision tracking requirements of the system. In this paper, an extended state observer (ESO) is used to estimate the unmeasurable states and external disturbances by modeling the nonlinear dead zone model of backlash. Furthermore, the adaptive robust control and extended state observer are integrated effectively by the backstepping method. The parameter projection adaptive law is designed to deal with the parameter uncertainty, and the model uncertainty is suppressed by robust controller. The dual control of parameter uncertainty and uncertainty nonlinearity is realized. The simulation results show the high precision tracking performance and robustness of the algorithm.
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